OpenRaiser/Intern-Atlas huggingface dataset:
Trajectory tracking control of a Remotely Operated Underwater Vehicle based on Fuzzy Disturbance Adaptation and Controller Parameter Optimization
Venue: arXiv cs.RO 2024
Year: 2024

The exploration of under-ice environments presents unique challenges due to limited access for scientific research. This report investigates the potential of deploying a fully actuated Remotely Operated Vehicle (ROV) for shallow area exploration beneath ice sheets. Leveraging advancements in marine robotics technology, ROVs offer a promising solution for extending human presence into remote underwater locations. To enable successful under-ice exploration, the ROV must follow precise trajectories for effective localization signal reception. This study develops a multi-input-multi-output (MIMO) nonlinear system controller, incorporating a Lyapunov-based stability guarantee and an adaptation law to mitigate unknown environmental disturbances. Fuzzy logic is employed to dynamically adjust adaptation rates, enhancing performance in highly nonlinear ROV dynamic systems. Additionally, a Particle Swarm Optimization (PSO) algorithm automates the tuning of controller parameters for optimal trajectory tracking. The report details the ROV dynamic model, the proposed control framework, and the PSO-based tuning process. Simulation-based experiments validate the efficacy of the methodology, with experimental results demonstrating superior trajectory tracking performance compared to baseline controllers. This work contributes to the advancement of under-ice exploration capabilities and sets the stage for future research in marine robotics and autonomous underwater systems.
Participle-Prepended Nominals Have Lower Entropy Than Nominals Appended After the Participle
Venue: arXiv cs.CL 2024
Year: 2024

English allows for both compounds (e.g., London-made) and phrasal paraphrases (e.g., made in London). While these constructions have roughly the same truth-conditional meaning, we hypothesize that the compound allows less freedom to express the nature of the semantic relationship between the participle and the pre-participle nominal. We thus predict that the pre-participle slot is more constrained than the equivalent position in the phrasal construction. We test this prediction in a large corpus by measuring the entropy of corresponding nominal slots, conditional on the participle used. That is, we compare the entropy of $α$ in compound construction slots like $α$-[V]ed to the entropy of $α$ in phrasal constructions like [V]ed by $α$ for a given verb V. As predicted, there is significantly lower entropy in the compound construction than in the phrasal construction. We consider how these predictions follow from more general grammatical properties and processing factors.
Simulation-Based Benchmarking of Reinforcement Learning Agents for Personalized Retail Promotions
Venue: arXiv cs.AI 2024
Year: 2024

The development of open benchmarking platforms could greatly accelerate the adoption of AI agents in retail. This paper presents comprehensive simulations of customer shopping behaviors for the purpose of benchmarking reinforcement learning (RL) agents that optimize coupon targeting. The difficulty of this learning problem is largely driven by the sparsity of customer purchase events. We trained agents using offline batch data comprising summarized customer purchase histories to help mitigate this effect. Our experiments revealed that contextual bandit and deep RL methods that are less prone to over-fitting the sparse reward distributions significantly outperform static policies. This study offers a practical framework for simulating AI agents that optimize the entire retail customer journey. It aims to inspire the further development of simulation tools for retail AI systems.
GridapTopOpt.jl: A scalable Julia toolbox for level set-based topology optimisation
Venue: arXiv cs.MS 2024
Year: 2024

In this paper we present GridapTopOpt, an extendable framework for level set-based topology optimisation that can be readily distributed across a personal computer or high-performance computing cluster. The package is written in Julia and uses the Gridap package ecosystem for parallel finite element assembly from arbitrary weak formulations of partial differential equation (PDEs) along with the scalable solvers from the Portable and Extendable Toolkit for Scientific Computing (PETSc). The resulting user interface is intuitive and easy-to-use, allowing for the implementation of a wide range of topology optimisation problems with a syntax that is near one-to-one with the mathematical notation. Furthermore, we implement automatic differentiation to help mitigate the bottleneck associated with the analytic derivation of sensitivities for complex problems. GridapTopOpt is capable of solving a range of benchmark and research topology optimisation problems with large numbers of degrees of freedom. This educational article demonstrates the usability and versatility of the package by describing the formulation and step-by-step implementation of several distinct topology optimisation problems. The driver scripts for these problems are provided and the package source code is available at https://github$.$com/zjwegert/GridapTopOpt.jl.
Enhancing DMI Interactions by Integrating Haptic Feedback for Intricate Vibrato Technique
Venue: arXiv cs.HC 2024
Year: 2024

This paper investigates the integration of force feedback in Digital Musical Instruments (DMI), specifically evaluating the reproduction of intricate vibrato techniques using haptic feedback controllers. We introduce our system for vibrato modulation using force feedback, composed of Bend-aid (a web-based sequencer platform using pre-designed haptic feedback models) and TorqueTuner (an open-source 1 Degree-of-Freedom (DoF) rotary haptic device for generating programmable haptic effects). We designed a formal user study to assess the impact of each haptic mode on user experience in a vibrato mimicry task. Twenty musically trained participants rated their user experience for the three haptic modes (Smooth, Detent, and Spring) using four Likert-scale scores: comfort, flexibility, ease of control, and helpfulness for the task. Finally, we asked participants to share their reflections. Our research indicates that while the Spring mode can help with light vibrato, preferences for haptic modes vary based on musical training background. This emphasizes the need for adaptable task interfaces and flexible haptic feedback in DMI design.
Lock-Free Augmented Trees
Venue: arXiv cs.DS 2024
Year: 2024

Augmenting an existing sequential data structure with extra information to support greater functionality is a widely used technique. For example, search trees are augmented to build sequential data structures like order-statistic trees, interval trees, tango trees, link/cut trees and many others. We study how to design concurrent augmented tree data structures. We present a new, general technique that can augment a lock-free tree to add any new fields to each tree node, provided the new fields' values can be computed from information in the node and its children. This enables the design of lock-free, linearizable analogues of a wide variety of classical augmented data structures. As a first example, we give a wait-free trie that stores a set $S$ of elements drawn from $\{1,\ldots,N\}$ and supports linearizable order-statistic queries such as finding the $k$th smallest element of $S$. Updates and queries take $O(\log N)$ steps. We also apply our technique to a lock-free binary search tree (BST), where changes to the structure of the tree make the linearization argument more challenging. Our augmented BST supports order statistic queries in $O(h)$ steps on a tree of height $h$. The augmentation does not affect the asymptotic running time of the updates. For both our trie and BST, we give an alternative augmentation to improve searches and order-statistic queries to run in $O(\log |S|)$ steps (with a small increase in step complexity of updates). As an added bonus, our technique supports arbitrary multi-point queries (such as range queries) with the same time complexity as they would have in the corresponding sequential data structure.
Safeguarding Vision-Language Models Against Patched Visual Prompt Injectors
Venue: arXiv cs.CV 2024
Year: 2024

Large language models have become increasingly prominent, also signaling a shift towards multimodality as the next frontier in artificial intelligence, where their embeddings are harnessed as prompts to generate textual content. Vision-language models (VLMs) stand at the forefront of this advancement, offering innovative ways to combine visual and textual data for enhanced understanding and interaction. However, this integration also enlarges the attack surface. Patch-based adversarial attack is considered the most realistic threat model in physical vision applications, as demonstrated in many existing literature. In this paper, we propose to address patched visual prompt injection, where adversaries exploit adversarial patches to generate target content in VLMs. Our investigation reveals that patched adversarial prompts exhibit sensitivity to pixel-wise randomization, a trait that remains robust even against adaptive attacks designed to counteract such defenses. Leveraging this insight, we introduce SmoothVLM, a defense mechanism rooted in smoothing techniques, specifically tailored to protect VLMs from the threat of patched visual prompt injectors. Our framework significantly lowers the attack success rate to a range between 0% and 5.0% on two leading VLMs, while achieving around 67.3% to 95.0% context recovery of the benign images, demonstrating a balance between security and usability.
Parameterized Complexity of Dominating Set Variants in Almost Cluster and Split Graphs
Venue: arXiv cs.DS 2024
Year: 2024

We consider structural parameterizations of the fundamental Dominating Set problem and its variants in the parameter ecology program. We give improved FPT algorithms and lower bounds under well-known conjectures for dominating set in graphs that are k vertices away from a cluster graph or a split graph. These are graphs in which there is a set of k vertices (called the modulator) whose deletion results in a cluster graph or a split graph. We also call k as the deletion distance (to the appropriate class of graphs). When parameterized by the deletion distance k to cluster graphs - we can find a minimum dominating set (DS) in 3^k n^{O(1)}-time. Within the same time, we can also find a minimum independent dominating set (IDS) or a minimum dominating clique (DC) or a minimum efficient dominating set (EDS) or a minimum total dominating set (TDS). We also show that most of these variants of dominating set do not have polynomial sized kernel. Additionally, we show that when parameterized by the deletion distance k to split graphs - IDS can be solved in 2^k n^{O(1)}-time and EDS can be solved in 3^{k/2}n^{O(1)}.
A Hard Nut to Crack: Idiom Detection with Conversational Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

In this work, we explore idiomatic language processing with Large Language Models (LLMs). We introduce the Idiomatic language Test Suite IdioTS, a new dataset of difficult examples specifically designed by language experts to assess the capabilities of LLMs to process figurative language at sentence level. We propose a comprehensive evaluation methodology based on an idiom detection task, where LLMs are prompted with detecting an idiomatic expression in a given English sentence. We present a thorough automatic and manual evaluation of the results and an extensive error analysis.
MC-GPT: Empowering Vision-and-Language Navigation with Memory Map and Reasoning Chains
Venue: arXiv cs.AI 2024
Year: 2024

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high training costs and lack of interpretability. Recently, Large Language Models (LLMs) have emerged as a promising tool for VLN due to their strong generalization capabilities. However, existing LLM-based methods face limitations in memory construction and diversity of navigation strategies. To address these challenges, we propose a suite of techniques. Firstly, we introduce a method to maintain a topological map that stores navigation history, retaining information about viewpoints, objects, and their spatial relationships. This map also serves as a global action space. Additionally, we present a Navigation Chain of Thoughts module, leveraging human navigation examples to enrich navigation strategy diversity. Finally, we establish a pipeline that integrates navigational memory and strategies with perception and action prediction modules. Experimental results on the REVERIE and R2R datasets show that our method effectively enhances the navigation ability of the LLM and improves the interpretability of navigation reasoning.
Medical Dialogue: A Survey of Categories, Methods, Evaluation and Challenges
Venue: arXiv cs.CL 2024
Year: 2024

This paper surveys and organizes research works on medical dialog systems, which is an important yet challenging task. Although these systems have been surveyed in the medical community from an application perspective, a systematic review from a rigorous technical perspective has to date remained noticeably absent. As a result, an overview of the categories, methods, and evaluation of medical dialogue systems remain limited and underspecified, hindering the further improvement of this area. To fill this gap, we investigate an initial pool of 325 papers from well-known computer science, and natural language processing conferences and journals, and make an overview. Recently, large language models have shown strong model capacity on downstream tasks, which also reshaped medical dialog systems' foundation. Despite the alluring practical application value, current medical dialogue systems still suffer from problems. To this end, this paper lists the grand challenges of medical dialog systems, especially of large language models.
Harnessing Collective Structure Knowledge in Data Augmentation for Graph Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

Graph neural networks (GNNs) have achieved state-of-the-art performance in graph representation learning. Message passing neural networks, which learn representations through recursively aggregating information from each node and its neighbors, are among the most commonly-used GNNs. However, a wealth of structural information of individual nodes and full graphs is often ignored in such process, which restricts the expressive power of GNNs. Various graph data augmentation methods that enable the message passing with richer structure knowledge have been introduced as one main way to tackle this issue, but they are often focused on individual structure features and difficult to scale up with more structure features. In this work we propose a novel approach, namely collective structure knowledge-augmented graph neural network (CoS-GNN), in which a new message passing method is introduced to allow GNNs to harness a diverse set of node- and graph-level structure features, together with original node features/attributes, in augmented graphs. In doing so, our approach largely improves the structural knowledge modeling of GNNs in both node and graph levels, resulting in substantially improved graph representations. This is justified by extensive empirical results where CoS-GNN outperforms state-of-the-art models in various graph-level learning tasks, including graph classification, anomaly detection, and out-of-distribution generalization.
Cyclical Weight Consolidation: Towards Solving Catastrophic Forgetting in Serial Federated Learning
Venue: arXiv cs.LG 2024
Year: 2024

Federated Learning (FL) has gained attention for addressing data scarcity and privacy concerns. While parallel FL algorithms like FedAvg exhibit remarkable performance, they face challenges in scenarios with diverse network speeds and concerns about centralized control, especially in multi-institutional collaborations like the medical domain. Serial FL presents an alternative solution, circumventing these challenges by transferring model updates serially between devices in a cyclical manner. Nevertheless, it is deemed inferior to parallel FL in that (1) its performance shows undesirable fluctuations, and (2) it converges to a lower plateau, particularly when dealing with non-IID data. The observed phenomenon is attributed to catastrophic forgetting due to knowledge loss from previous sites. In this paper, to overcome fluctuation and low efficiency in the iterative learning and forgetting process, we introduce cyclical weight consolidation (CWC), a straightforward yet potent approach specifically tailored for serial FL. CWC employs a consolidation matrix to regulate local optimization. This matrix tracks the significance of each parameter on the overall federation throughout the entire training trajectory, preventing abrupt changes in significant weights. During revisitation, to maintain adaptability, old memory undergoes decay to incorporate new information. Our comprehensive evaluations demonstrate that in various non-IID settings, CWC mitigates the fluctuation behavior of the original serial FL approach and enhances the converged performance consistently and significantly. The improved performance is either comparable to or better than the parallel vanilla.
Realistic Evaluation of Toxicity in Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) have become integral to our professional workflows and daily lives. Nevertheless, these machine companions of ours have a critical flaw: the huge amount of data which endows them with vast and diverse knowledge, also exposes them to the inevitable toxicity and bias. While most LLMs incorporate defense mechanisms to prevent the generation of harmful content, these safeguards can be easily bypassed with minimal prompt engineering. In this paper, we introduce the new Thoroughly Engineered Toxicity (TET) dataset, comprising manually crafted prompts designed to nullify the protective layers of such models. Through extensive evaluations, we demonstrate the pivotal role of TET in providing a rigorous benchmark for evaluation of toxicity awareness in several popular LLMs: it highlights the toxicity in the LLMs that might remain hidden when using normal prompts, thus revealing subtler issues in their behavior.
From Sora What We Can See: A Survey of Text-to-Video Generation
Venue: arXiv cs.CV 2024
Year: 2024

With impressive achievements made, artificial intelligence is on the path forward to artificial general intelligence. Sora, developed by OpenAI, which is capable of minute-level world-simulative abilities can be considered as a milestone on this developmental path. However, despite its notable successes, Sora still encounters various obstacles that need to be resolved. In this survey, we embark from the perspective of disassembling Sora in text-to-video generation, and conducting a comprehensive review of literature, trying to answer the question, \textit{From Sora What We Can See}. Specifically, after basic preliminaries regarding the general algorithms are introduced, the literature is categorized from three mutually perpendicular dimensions: evolutionary generators, excellent pursuit, and realistic panorama. Subsequently, the widely used datasets and metrics are organized in detail. Last but more importantly, we identify several challenges and open problems in this domain and propose potential future directions for research and development.
Empowering Prior to Court Legal Analysis: A Transparent and Accessible Dataset for Defensive Statement Classification and Interpretation
Venue: arXiv cs.CL 2024
Year: 2024

The classification of statements provided by individuals during police interviews is a complex and significant task within the domain of natural language processing (NLP) and legal informatics. The lack of extensive domain-specific datasets raises challenges to the advancement of NLP methods in the field. This paper aims to address some of the present challenges by introducing a novel dataset tailored for classification of statements made during police interviews, prior to court proceedings. Utilising the curated dataset for training and evaluation, we introduce a fine-tuned DistilBERT model that achieves state-of-the-art performance in distinguishing truthful from deceptive statements. To enhance interpretability, we employ explainable artificial intelligence (XAI) methods to offer explainability through saliency maps, that interpret the model's decision-making process. Lastly, we present an XAI interface that empowers both legal professionals and non-specialists to interact with and benefit from our system. Our model achieves an accuracy of 86%, and is shown to outperform a custom transformer architecture in a comparative study. This holistic approach advances the accessibility, transparency, and effectiveness of statement analysis, with promising implications for both legal practice and research.
Persian Pronoun Resolution: Leveraging Neural Networks and Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Coreference resolution, critical for identifying textual entities referencing the same entity, faces challenges in pronoun resolution, particularly identifying pronoun antecedents. Existing methods often treat pronoun resolution as a separate task from mention detection, potentially missing valuable information. This study proposes the first end-to-end neural network system for Persian pronoun resolution, leveraging pre-trained Transformer models like ParsBERT. Our system jointly optimizes both mention detection and antecedent linking, achieving a 3.37 F1 score improvement over the previous state-of-the-art system (which relied on rule-based and statistical methods) on the Mehr corpus. This significant improvement demonstrates the effectiveness of combining neural networks with linguistic models, potentially marking a significant advancement in Persian pronoun resolution and paving the way for further research in this under-explored area.
INDUS: Effective and Efficient Language Models for Scientific Applications
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) trained on general domain corpora showed remarkable results on natural language processing (NLP) tasks. However, previous research demonstrated LLMs trained using domain-focused corpora perform better on specialized tasks. Inspired by this insight, we developed INDUS, a comprehensive suite of LLMs tailored for the closely-related domains of Earth science, biology, physics, heliophysics, planetary sciences and astrophysics, and trained using curated scientific corpora drawn from diverse data sources. The suite of models include: (1) an encoder model trained using domain-specific vocabulary and corpora to address NLP tasks, (2) a contrastive-learning based text embedding model trained using a diverse set of datasets to address information retrieval tasks and (3) smaller versions of these models created using knowledge distillation for applications which have latency or resource constraints. We also created three new scientific benchmark datasets, CLIMATE-CHANGE NER (entity-recognition), NASA-QA (extractive QA) and NASA-IR (IR) to accelerate research in these multi-disciplinary fields. We show that our models outperform both general-purpose (RoBERTa) and domain-specific (SCIBERT) encoders on these new tasks as well as existing tasks in the domains of interest. Furthermore, we demonstrate the use of these models in two industrial settings -- as a retrieval model for large-scale vector search applications and in automatic content tagging systems.